Commit eeab657f authored by Pierre Fernbach's avatar Pierre Fernbach
Browse files

Merge branch 'devel' into 'devel'

Update to changes in curves/serialization

See merge request loco-3d/multicontact-api!12
parents d217188f 306aece9
Pipeline #9452 passed with stage
in 8 minutes and 30 seconds
......@@ -10,19 +10,16 @@
#include "multicontact-api/serialization/spatial.hpp"
#include <curves/fwd.h>
#include <curves/curve_abc.h>
#include <curves/piecewise_curve.h>
#include <curves/serialization/curves.hpp>
#include <map>
#include <vector>
#include <set>
#include <string>
#include <sstream>
#include <boost/shared_ptr.hpp>
#include <boost/serialization/shared_ptr.hpp>
#include <boost/serialization/string.hpp>
#include <boost/serialization/map.hpp>
#include <boost/serialization/vector.hpp>
#include <curves/serialization/registeration.hpp>
namespace multicontact_api {
namespace scenario {
......@@ -45,9 +42,9 @@ struct ContactPhaseTpl : public serialization::Serializable<ContactPhaseTpl<_Sca
typedef curves::curve_abc_t curve_t;
// typedef curves::curve_abc<Scalar, Scalar, true, point3_t> curve_3_t;
typedef curves::curve_SE3_t curve_SE3_t;
typedef boost::shared_ptr<curve_t> curve_ptr;
typedef curves::curve_ptr_t curve_ptr;
// typedef boost::shared_ptr<curve_3_t> curve_3_ptr;
typedef boost::shared_ptr<curve_SE3_t> curve_SE3_ptr;
typedef curves::curve_SE3_ptr_t curve_SE3_ptr;
typedef curves::piecewise3_t piecewise3_t;
typedef curves::piecewise_t piecewise_t;
typedef piecewise_t::t_time_t t_time_t;
......
// Copyright (c) 2015-2018, CNRS
// Authors: Justin Carpentier <jcarpent@laas.fr>
// Copyright (c) 2019-2020, CNRS
// Authors: Pierre Fernbach <pierre.fernbach@laas.fr>,
#include <iostream>
......@@ -13,13 +13,10 @@
#include "multicontact-api/scenario/contact-sequence.hpp"
#include <curves/fwd.h>
#include <curves/so3_linear.h>
#include <curves/se3_curve.h>
#include <curves/polynomial.h>
#include <curves/bezier_curve.h>
#include <curves/piecewise_curve.h>
#include <curves/exact_cubic.h>
#include <curves/cubic_hermite_spline.h>
typedef Eigen::Matrix<double, 1, 1> point1_t;
using curves::point3_t;
......@@ -37,20 +34,7 @@ using curves::t_pointX_t;
using namespace multicontact_api::scenario;
typedef ContactSequence::ContactPhaseVector ContactPhaseVector;
template <typename Scalar>
struct ATpl {
typedef pinocchio::SE3Tpl<Scalar> SE3;
explicit ATpl() : data() {}
explicit ATpl(const ATpl& other) : data(other.data){};
bool operator==(const ATpl& other) { return data == other.data; }
protected:
SE3 data;
};
typedef ATpl<double> Ad;
typedef pinocchio::SE3Tpl<double> SE3;
curve_ptr_t buildPiecewisePolynomialC2() {
......
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